非精确导航信息下UUV路径规划  

UUV path planning with inaccurate navigation information

作　　者：严浙平[1] 赵玉飞[1] 陈涛[1] 迟冬南[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2013年第6期715-720,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(51179038);新世纪优秀人才计划资助项目(NCET-10-0053);中央高校基本科研业务费专项基金资助项目(HEUCF041323)

摘　　要：在UUV(unmanned underwater vehicle)路径规划过程中,水下导航误差的增加使UUV与障碍之间的安全区域逐渐减少,这影响了自由路径的选择.提出了一种基于A*算法并结合非精确导航信息的全局路径规划方法,先建立了基于高斯分布导航误差模型,由此构建位置和导航误差的不确定规划空间,将非精确导航信息转化为未知环境信息.同时考虑路径长度和航行安全性的约束条件,提出了在最大容许导航误差下的路径长度最短的目标代价函数.采用蒙特卡罗模拟采样法近似导航误差分布,获取了相邻节点间的期望代价,并运用改进的A*算法搜索最优路径.数字海洋环境仿真表明所提出的规划算法简便、快速,生成的路径安全可行.In the path planning of an unmanned underwater vehicle（UUV）, the increase of underwater navigation error gradually decreases the free space between the UUV and obstacles, making it difficult to search the free path. A global path planning based on A？algorithm with inaccurate navigation information has been proposed. Firstly the navigation error model based on Gauss distribution was built, then the uncertainty planning space was built inclu？ding the position and navigation error, which translate the inaccurate navigation information into the uncertain envi？ronment. A shortest path was set as the objective cost function with the upper bound of the navigation error, to guar？antee lower voyage and higher security. The Monte Carlo simulation was used to calculate the expected traversal cost between the adjacent nodes by simulating the navigation error distribution. In the end, A？based algorithm was ap？plied in searching the optimal path. Simulation verification was carried out with the digital ocean environment, and the results illustrate the proposed approach was simple and fast, and the posed path was feasible for trail.

关 键 词：UUV 非精确导航 路径规划 蒙特卡罗模拟 A＊算法 

分 类 号：U674.941[交通运输工程—船舶及航道工程] TJ630[交通运输工程—船舶与海洋工程]